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Humanoid Path Planner
talos-rbprm
Commits
46cd8359
Unverified
Commit
46cd8359
authored
Oct 14, 2019
by
Fernbach Pierre
Committed by
GitHub
Oct 14, 2019
Browse files
Merge pull request #7 from pFernbach/master
add ref_height and default_com_height
parents
7320533e
95146e88
Changes
5
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data/talos/meshes/talos_rleg_rom.stl
View file @
46cd8359
No preview for this file type
data/talos/relative_effector_positions/talos_LF_constraints_in_RF_quasi_flat_REDUCED.obj
View file @
46cd8359
...
...
@@ -2,123 +2,123 @@
# www.blender.org
mtllib talos_LF_constraints_in_RF_quasi_flat_REDUCED.mtl
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data/talos/relative_effector_positions/talos_RF_constraints_in_LF_quasi_flat_REDUCED.obj
View file @
46cd8359
...
...
@@ -2,132 +2,132 @@
# www.blender.org
mtllib talos_RF_constraints_in_LF_quasi_flat_REDUCED.mtl
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299
vn 0.3
605
-0.89
12
0.2
752
vn -0.0
409
-0.340
5
0.939
4
vn 0.9907 -0.1277 -0.0462
vn 0.9988 -0.0417 -0.0263
vn 0.9995 -0.0259 -0.0174
vn 0.09
16
0.11
61
0.98
90
vn 0.09
79
0.11
57
0.98
84
usemtl None
s
off
f 1
5
//1
8
//1
5
//1
f
13
//2
23
//2
1
6//2
10
//2
f
2
8//3
12
//3
6
//3
f
13
//4 1
4
//4 2
0
//4
23
//4
f
12
//5
22
//5
27
//5
f
10
//6
1
6//6
8
//6
9
//6
f 1
1
//7
24
//7 1
4
//7
10
//7
f
2
1//8
12
//8
27
//8
f
26
//9
18
//9 2
0
//9
f
2
1//10
27
//10
30
//10
f 1
5
//11
9
//11
8
//11
f
1
6//12
31
//12 2
9
//12
8
//12
f
27
//13
22
//13 2//13
f
22
//14
2
8//14 2//14
f
6
//15
5
//15
4
//15
f 2
5
//16
30
//16
26
//16 2
0
//16
f 1
4
//17 2
5
//17 2
0
//17
f
6
//18 1
5
//18
5
//18
f
12
//19
2
8//19
22
//19
f
24
//20 1
1
//20 1
5
//20
f 1
1//21 9
//21 15//21
f 1
1
//22
10
//22
9
//22
f 1
4
//23
13
//23
10
//23
f
24
//24 21//24
30//24 25
//24
f
24
//25 1
5
//25
6
//25
12
//25
f
31
//26 7//26
3
//26
f 1
4
//27
24
//27 2
5
//27
f 7//28
17
//28
3
//28
f
17
//29
1
//29
3
//29
f
1
//30 2//30
3
//30
f
2
1//31
24
//31
12
//31
f 2//32 1
9
//32
3
//32
f 1
9
//33
4
//33 2
9
//33
f
4
//34
5
//34 2
9
//34
f
5
//35
8
//35 2
9
//35
f 1
9
//36 2
9
//36
31
//36
3
//36
f
1
6//37 7//37
31
//37
f
1
6//38
23
//38 7//38
f
23
//39 2
0
//39 7//39
f 2
0
//40
17
//40 7//40
f
18
//41
1
//41
17
//41
f 2
0
//42
18
//42
17
//42
f
18
//43 2//43
1
//43
f
4
//44 1
9
//44 2//44
f
18
//45
26
//45 2//45
f
26
//46
30
//46 2//46
f
30
//47
27
//47 2//47
f
6
//48
4
//48 2//48
2
8//48
s
1
f 1//1
2
//1
3
//1
f
4
//2
5
//2 6//2
7
//2
f 8//3
9
//3
10
//3
f
4
//4 1
1
//4
1
2//4
5
//4
f
9
//5
13
//5
14
//5
f
7
//6 6//6
2
//6
15
//6
f 1
6
//7
17
//7 1
1
//7
7
//7
f 1
8
//8
9
//8
14
//8
f
19
//9
20
//9
1
2//9
f 1
8
//10
14
//10
21
//10
f 1//11
15
//11
2
//11
f 6//12
22
//12 2
3
//12
2
//12
f
14
//13
13
//13 2
4
//13
f
13
//14 8//14 2
4
//14
f
10
//15
3
//15
25
//15
f 2
6
//16
21
//16
19
//16
1
2//16
f 1
1
//17 2
6
//17
1
2//17
f
10
//18 1//18
3
//18
f
9
//19 8//19
13
//19
f
17
//20 1
6
//20 1//20
f 1
6
//21 15//21
1//21
f 1
6
//22
7
//22
15
//22
f 1
1
//23
4
//23
7
//23
f
17//24 18
//24 21//24
26
//24
f
17
//25 1//25
10
//25
9
//25
f
22
//26
2
7//26
28
//26
f 1
1
//27
17
//27 2
6
//27
f
2
7//28
29
//28
28
//28
f
29
//29
30
//29
28
//29
f
30
//30 2
4
//30
28
//30
f 1
8
//31
17
//31
9
//31
f 2
4
//32
3
1//32
28
//32
f
3
1//33
25
//33 2
3
//33
f
25
//34
3
//34 2
3
//34
f
3
//35
2
//35 2
3
//35
f
3
1//36 2
3
//36
22
//36
28
//36
f 6//37
2
7//37
22
//37
f 6//38
5
//38
2
7//38
f
5
//39
1
2//39
2
7//39
f
1
2//40
29
//40
2
7//40
f
20
//41
30
//41
29
//41
f
1
2//42
20
//42
29
//42
f
20
//43 2
4
//43
30
//43
f
25
//44
3
1//44 2
4
//44
f
20
//45
19
//45 2
4
//45
f
19
//46
21
//46 2
4
//46
f
21
//47
14
//47 2
4
//47
f
10
//48
25
//48 2
4
//48 8//48
src/hpp/corbaserver/rbprm/talos/robot.py
View file @
46cd8359
...
...
@@ -30,6 +30,7 @@ class Robot (Parent):
urdfSuffix
=
"_reduced"
srdfSuffix
=
""
DEFAULT_COM_HEIGHT
=
0.86
## Information about the names of thes joints defining the limbs of the robot
rLegId
=
'talos_rleg_rom'
rleg
=
'leg_right_1_joint'
...
...
@@ -61,8 +62,8 @@ class Robot (Parent):
0.0
,
0.0
,
-
0.411354
,
0.859395
,
-
0.448041
,
-
0.001708
,
#Left Leg
0.0
,
0.0
,
-
0.411354
,
0.859395
,
-
0.448041
,
-
0.001708
,
#Right Leg
0.0
,
0.006761
,
#Chest
0.
25847
,
0.173046
,
-
0.0002
,
-
1.
2
,
0.0
,
-
0.0
,
0.1
,
-
0.005
,
#Left Arm
-
0.
25847
,
-
0.173046
,
0.0002
,
-
1.
2
,
0.0
,
0.0
,
0.1
,
-
0.005
,
#Right Arm
0.
,
0.173046
,
-
0.0002
,
-
1.
5
,
0.0
,
-
0.0
,
0.1
,
-
0.005
,
#Left Arm
0.
,
-
0.173046
,
0.0002
,
-
1.
5
,
0.0
,
0.0
,
0.1
,
-
0.005
,
#Right Arm
0.
,
0.
]
referenceConfig_legsApart
=
[
...
...
src/hpp/corbaserver/rbprm/talos_abstract/robot.py
View file @
46cd8359
...
...
@@ -37,6 +37,7 @@ class Robot (Parent):
legX
=
0.1
legY
=
0.06
ref_height
=
1.02127
# reference position of the end effector position for each ROM
ref_EE_lLeg
=
[
-
0.008846952891378526
,
0.0848172440888579
,
-
1.019272022956703
]
...
...
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